深海集矿机多任务调度控制系统设计  

Design on Multi-tasks Schedule Control System for Deep-sea Vehicle

作　　者：王随平[1] 谈敏[1] 陈勇[1] 熊光辉[1] 

机构地区：[1]中南大学信息科学与工程学院,长沙410083

出　　处：《自动化与仪表》2007年第5期5-8,共4页Automation & Instrumentation

基　　金：国际海底区域研究开发"十五"项目(DY105-03-02-06);国家重点基础研究发展规划项目(2002CB312203);国家自然科学基金资助项目(60505018)

摘　　要：设计并实现了一种基于多处理器的深海采矿实时调度控制系统,结合嵌入式ARM控制系统和实时操作系统μC/OS-II对深海集矿机的轨迹规划、实时避障、故障监测等基本实时控制任务进行划分,将划分好任务分配到固定各个多处理器系统中。采用MCDF调度算法实现全局动态调度,从理论上分析了所提出算法的可调度性,并在深海采矿多处理器集矿机控制系统中验证了算法设计有效性和可行性,为嵌入式用于深海采矿研究进行了探讨,表明了算法的有效性。The paper based on multiple processors designed and realized a deep-sea mining real-time dispatch control system. The system combined with ARM control system and real-time operating system IxC/OS-II divided deepwater robot＇s basic tasks such as trajectory planning,barrier avoidance and so on. The divided tasks assign to each con- troller and used scheduling algorithm based on MCDF to realize whole dynamic scheduling on multiprocessor system. The schedule ability of each algorithm is analyzed,and the effectiveness and feasibility of each algorithm is demon- strated with deep-sea mining vehicle control system. The study investigated embedded system that was applied to deep-sea mining.

关 键 词：多处理器 任务 实时调度算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]